text: /*
   * Copyright (c) 2010, Willow Garage, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of Willow Garage, Inc. nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  /* Author: Josh Faust */
  
  /*
   * Subscribe intraprocess, ensuring that no copy happens
   */
  
  #include <string>
  
  #include <gtest/gtest.h>
  
  #include <stdlib.h>
  
  #include "ros/ros.h"
  
  uint32_t g_msg_constructor = 0;
  uint32_t g_msg2_constructor = 0;
  
  struct Msg
  {
    Msg()
    : serialized(false)
    , deserialized(false)
    {
      ++g_msg_constructor;
    }
  
    mutable bool serialized;
    bool deserialized;
  };
  typedef boost::shared_ptr<Msg const> MsgConstPtr;
  
  namespace ros
  {
  namespace message_traits
  {
    template<>
    struct MD5Sum<Msg>
    {
      static const char* value() { return "MsgMD5Sum"; }
      static const char* value(const Msg&) { return "MsgMD5Sum"; }
    };
  
    template<>
    struct DataType<Msg>
    {
      static const char* value() { return "roscpp/MsgDataType"; }
      static const char* value(const Msg&) { return "roscpp/MsgDataType"; }
    };
  
    template<>
    struct Definition<Msg>
    {
      static const char* value() { return ""; }
      static const char* value(const Msg&) { return ""; }
    };
  } // namespace message_traits
  
  namespace serialization
  {
  template<>
  struct Serializer<Msg>
  {
    template<typename Stream>
    inline static void write(Stream&, const Msg& v)
    {
      v.serialized = true;
    }
  
    template<typename Stream>
    inline static void read(Stream&, Msg& v)
    {
      v.deserialized = true;
    }
  
    inline static uint32_t serializedLength(const Msg&)
    {
      return 0;
    }
  };
  } // namespace serialization
  } // namespace ros
  
  MsgConstPtr g_msg;
  
  struct Msg2
  {
    Msg2()
    : serialized(false)
    , deserialized(false)
    {
      ++g_msg2_constructor;
    }
  
    mutable bool serialized;
    bool deserialized;
  };
  typedef boost::shared_ptr<Msg2 const> Msg2ConstPtr;
  
  namespace ros
  {
  namespace message_traits
  {
    template<>
    struct MD5Sum<Msg2>
    {
      static const char* value() { return "MsgMD5Sum"; }
      static const char* value(const Msg2&) { return "MsgMD5Sum"; }
    };
  
    template<>
    struct DataType<Msg2>
    {
      static const char* value() { return "roscpp/MsgDataType"; }
      static const char* value(const Msg2&) { return "roscpp/MsgDataType"; }
    };
  
    template<>
    struct Definition<Msg2>
    {
      static const char* value() { return ""; }
      static const char* value(const Msg2&) { return ""; }
    };
  } // namespace message_traits
  
  namespace serialization
  {
  template<>
  struct Serializer<Msg2>
  {
    template<typename Stream>
    inline static void write(Stream&, const Msg2& v)
    {
      v.serialized = true;
    }
  
    template<typename Stream>
    inline static void read(Stream&, Msg2& v)
    {
      v.deserialized = true;
    }
  
    inline static uint32_t serializedLength(const Msg2&)
    {
      return 0;
    }
  };
  } // namespace serialization
  } // namespace ros
  
  void messageCallback(const MsgConstPtr& msg)
  {
    g_msg = msg;
  }
  
  TEST(IntraprocessSubscriptions, noCopy)
  {
    g_msg.reset();
    g_msg_constructor = 0;
  
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("test", 0, messageCallback);
    ros::Publisher pub = nh.advertise<Msg>("test", 0);
  
    MsgConstPtr msg(boost::make_shared<Msg>());
  
    while (pub.getNumSubscribers() == 0)
    {
      ros::Duration(0.01).sleep();
    }
  
    pub.publish(msg);
  
    while (!g_msg)
    {
      ros::spinOnce();
      ros::Duration(0.01).sleep();
    }
  
    ASSERT_TRUE(g_msg);
    EXPECT_EQ(g_msg.get(), msg.get());
    EXPECT_FALSE(g_msg->serialized);
    EXPECT_FALSE(g_msg->deserialized);
    EXPECT_EQ(g_msg_constructor, 1ULL);
  }
  
  TEST(IntraprocessSubscriptions, differentRTTI)
  {
    g_msg_constructor = 0;
    g_msg.reset();
  
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("test", 0, messageCallback);
    ros::Publisher pub = nh.advertise<Msg2>("test", 0);
  
    Msg2ConstPtr msg(boost::make_shared<Msg2>());
  
    while (pub.getNumSubscribers() == 0)
    {
      ros::Duration(0.01).sleep();
    }
  
    pub.publish(msg);
  
    while (!g_msg)
    {
      ros::spinOnce();
      ros::Duration(0.01).sleep();
    }
  
    ASSERT_TRUE(g_msg);
    EXPECT_NE((void*)g_msg.get(), (void*)msg.get());
    EXPECT_TRUE(msg->serialized);
    EXPECT_TRUE(g_msg->deserialized);
    EXPECT_EQ(g_msg_constructor, 1ULL);
    EXPECT_EQ(g_msg2_constructor, 1ULL);
  }
  
  Msg2ConstPtr g_msg2;
  void messageCallback2(const Msg2ConstPtr& msg)
  {
    g_msg2 = msg;
  }
  
  TEST(IntraprocessSubscriptions, noCopyAndDifferentRTTI)
  {
    g_msg.reset();
  
    ros::NodeHandle nh;
    ros::Subscriber sub1 = nh.subscribe("test", 0, messageCallback);
    ros::Subscriber sub2 = nh.subscribe("test", 0, messageCallback2);
    ros::Publisher pub = nh.advertise<Msg2>("test", 0);
  
    Msg2ConstPtr msg(boost::make_shared<Msg2>());
  
    while (pub.getNumSubscribers() == 0)
    {
      ros::Duration(0.01).sleep();
    }
  
    pub.publish(msg);
  
    while (!g_msg || !g_msg2)
    {
      ros::spinOnce();
      ros::Duration(0.01).sleep();
    }
  
    ASSERT_TRUE(g_msg);
    EXPECT_NE((void*)g_msg.get(), (void*)msg.get());
    EXPECT_TRUE(msg->serialized);
    EXPECT_TRUE(g_msg->deserialized);
  
    ASSERT_TRUE(g_msg2);
    EXPECT_EQ(g_msg2.get(), msg.get());
    EXPECT_TRUE(g_msg2->serialized);
    EXPECT_FALSE(g_msg2->deserialized);
  }
  
  int main(int argc, char** argv)
  {
    testing::InitGoogleTest(&argc, argv);
    ros::init(argc, argv, "intraprocess_subscriptions");
  
    ros::NodeHandle nh;
  
    return RUN_ALL_TESTS();
  }
  
  